Mitsubishi Electric MELSERVO-JE MR-JE-C Instruction Manual
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Mitsubishi Electric MELSERVO-JE MR-JE-C Instruction Manual

General-purpose ac servo ethernet interface / servo amplifier, modbus / tcp
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General-Purpose AC Servo
Ethernet Interface
MODEL
MR-JE-_C
SERVO AMPLIFIER
INSTRUCTION MANUAL
(Modbus/TCP)

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Summary of Contents for Mitsubishi Electric MELSERVO-JE MR-JE-C

  • Page 1 General-Purpose AC Servo Ethernet Interface MODEL MR-JE-_C SERVO AMPLIFIER INSTRUCTION MANUAL (Modbus/TCP)

  • Page 2: Safety Instructions

    Safety Instructions Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
  • Page 3 1. To prevent electric shock, note the following WARNING Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
  • Page 4 4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, fire, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their mass. Stacking in excess of the specified number of product packages is not allowed. Do not hold the lead of the built-in regenerative resistor, cables, or connectors when carrying the servo amplifier.
  • Page 5 (2) Wiring CAUTION Before removing the CNP1 connector of MR-JE-40C to MR-JE-100C, disconnect the lead wires of the regenerative resistor from the CNP1 connector. Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism. Otherwise, the cables and connectors may be disconnected during operation.
  • Page 6 CAUTION Never adjust or change the parameter values extremely as it will make operation unstable. Do not get close to moving parts during the servo-on status. (4) Usage CAUTION When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a servo motor with an external brake to prevent the condition.
  • Page 7 CAUTION Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch. Contacts must be opened when ALM Contacts must be opened (Malfunction) or MBR (Electromagnetic with the emergency stop switch. brake interlock) turns off. Servo motor 24 V DC Electromagnetic brake To prevent an electric shock, injury, or fire from occurring after an earthquake or other natural disasters,...
  • Page 8 DISPOSAL OF WASTE Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations. EEP-ROM life The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the EEP-ROM reaches the end of its useful life.
  • Page 9 MEMO A - 8...

  • Page 10: Table Of Contents

    CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 4 1.1 Summary of Modbus-TCP ........................ 1- 1 1.2 Function List ............................1- 1 1.3 Communication specifications ......................1- 4 2. MODBUS/TCP PROTOCOL 2- 1 to 2-10 2.1 Summary ............................2- 1 2.2 Modbus/TCP Communication Message Frame ................
  • Page 11 6.4.1 Control status (6041h) ....................... 6-35 6.4.2 Quick stop option code (605Ah) ....................6-36 6.4.3 Halt option code (605Dh) ......................6-37 6.4.4 Control mode display (6061h) ....................6-38 6.4.5 Software limit (607Dh) ....................... 6-38 6.4.6 Polarity (607Eh) ........................6-39 6.4.7 Degree (60F2h) ......................... 6-39 6.4.8 Touch probe (60B8h to 60BBh) ....................

  • Page 12: Functions And Configuration

    1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Summary of Modbus-TCP The Modbus protocol, developed for programmable controllers by Modicon Inc., has evolved into the Modbus/TCP protocol for use over TCP/IP. The Modbus master acts as a TCP client, and the Modbus slave acts as a TCP server for client-server communication.
  • Page 13 1. FUNCTIONS AND CONFIGURATION Detailed Function Description explanation You can switch gains during rotation and during stop, and can use an Gain switching function input device to switch gains during operation. Advanced vibration This function suppresses vibration or residual vibration at an arm end. suppression control II Machine resonance This filter function (notch filter) decreases the gain of the specific frequency to...
  • Page 14 1. FUNCTIONS AND CONFIGURATION Detailed Function Description explanation This function makes the equipment continue operating even under the condition that an alarm occurs. Tough drive function The tough drive function includes two types: the vibration tough drive and the instantaneous power failure tough drive. This function continuously monitors the servo status and records the status transition "MR-JE-_C before and after an alarm for a fixed period of time.

  • Page 15: Communication Specifications

    1. FUNCTIONS AND CONFIGURATION 1.3 Communication specifications The following table lists the Modbus/TCP communication specifications. Function Description Communication protocol Modbus/TCP protocol Conformed standard OPEN Modbus/TCP SPECIFICATION Port No. No. 502 IPv4 range: 0.0.0.0 to 255.255.255.255 IP address Use the same network address for both a client and servers. Default value: 192.168.3.0 Subnet mask Default value (recommended): 255.255.255.0...

  • Page 16: Modbus/Tcp Protocol

    2. MODBUS/TCP PROTOCOL 2. MODBUS/TCP PROTOCOL POINT If connection with a client disconnects during establishment, the connection may not close and this may cause reconnection failure. In case you cannot reconnect, cycle the power of the servo amplifier. 2.1 Summary In Modbus/TCP communication, a command that a client (controller) sends to servers (servo amplifiers) is called "Query Message", and a command that the servers return to the client is called "Response Message".
  • Page 17 2. MODBUS/TCP PROTOCOL Message frame Transaction Protocol Unit Length Field Function Data Identifier Identifier Identifier 2 × 8 bits 2 × 8 bits 2 × 8 bits 8 bits 8 bits n × 8 bits Communication Message field Size Description path Transaction Identifier 2 ×...

  • Page 18: Function Codes

    2. MODBUS/TCP PROTOCOL 2.3 Function Codes 2.3.1 List of function codes The MR-JE-_C servo amplifier supports the following function codes. Code Function name Description Read Holding Registers Reading data in holding registers The data in the registered holding registers can be read from the client. Diagnostics Function diagnostics When this function code is sent from the client to a server, the server returns the...
  • Page 19 2. MODBUS/TCP PROTOCOL Response Message Data Transaction Protocol Unit Length Field Function Byte Count Identifier Identifier Identifier 16 bits 0000h 16 bits 8 bits 8 bits 8 bits 8 bits 8 bits Message field Size Description Transaction Identifier 16 bits Transaction Identifier received from the client (controller) is copied and returned.
  • Page 20 2. MODBUS/TCP PROTOCOL Query Message Starting Address No. of Points Transaction Protocol Unit Length Field Function Identifier Identifier Identifier 16 bits 0000h 0006h Set the following values to each Query Message. Message field Description Transaction Identifier Set any value. (Transaction identifier) Protocol Identifier Set "0000h".

  • Page 21: Diagnostics (Function Diagnostics: 08H)

    2. MODBUS/TCP PROTOCOL 2.3.3 Diagnostics (Function diagnostics: 08h) Use this register when performing the communication check from the client (controller). When a server (servo amplifier) receives a Query Message, it sends the received data as a Response Message without any changes to the client (controller).
  • Page 22 2. MODBUS/TCP PROTOCOL (2) Usage example The following shows a setting example of when the diagnosis function is used. Query Message Sub Function Data Transaction Protocol Unit Length Field Function Identifier Identifier Identifier 16 bits 0000h 0006h Set the following values to each Query Message. Message field Description Transaction Identifier...

  • Page 23: Preset Multiple Registers (Writing Data In Multiple Holding Registers: 10H)

    2. MODBUS/TCP PROTOCOL 2.3.4 Preset Multiple Registers (Writing data in multiple holding registers: 10h) Data is written to consecutive holding registers for the specified number of data points starting from the specified register address. (1) Message frame Query Message Starting No.
  • Page 24 2. MODBUS/TCP PROTOCOL (2) Usage example The following shows a setting example for writing "0100h" in the Modbus register 2102h ([Pr. PC02]). No. of Registers Continuous Index Name Data type Read/write (Number of Setting value read/write registers to write) 2102h PC02 4 bytes Read/write...

  • Page 25: Processing At Occurrence Of An Error

    2. MODBUS/TCP PROTOCOL 2.3.5 Processing at occurrence of an error In Modbus/TCP communication, when the Query Message sent from the client (controller) includes an incorrect value, the server (servo amplifier) returns an exception response to the client (controller). If an error is detected in the TCP/IP layer, the server (servo amplifier) returns no message to the client (controller).

  • Page 26: Startup

    3. STARTUP 3. STARTUP POINT When using Modbus/TCP communication, set [Pr. PN10 Ethernet communication time-out selection] before driving the servo motor. The servo motor may continue to operate after the communication is disabled due to a communication shut-off or other causes. Setting [Pr.

  • Page 27: Ip Address Setting

    3. STARTUP 3.2 IP address setting POINT Use a twisted pair cable with Ethernet Category 5e (1000BASE-T) or higher as an Ethernet cable. The maximum cable length between nodes is 100 m. Use a hub with a transmission speed of 100 Mbps or faster when branching the Ethernet communication using a switching hub.

  • Page 28: Parameters

    4. PARAMETERS 4. PARAMETERS Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. Do not change the parameter settings as described below. Doing so may cause an unexpected condition, such as failing to start up the servo amplifier. Changing the values of the parameters for manufacturer setting CAUTION Setting a value out of the range...
  • Page 29 4. PARAMETERS Initial Symbol Name Unit value PN27 *IPAF4 IP address filter 4 PN28 *IPFR2 IP address filter 2 range setting PN29 *IPFR3 IP address filter 3 range setting PN30 *IPFR4 IP address filter 4 range setting PN31 *IPOA1 Operation specification IP address 1 PN32 *IPOA2 Operation specification IP address 2...

  • Page 30: Detailed List Of Communication-Related Parameters

    4. PARAMETERS 4.2 Detailed list of communication-related parameters POINT Set a value to each "x" in the "Setting digit" columns. Initial No./symbol/ Setting Function value name digit [unit] PN10 Set the network number of the servo amplifier. *CONN Set the time until [AL. 86.4 Network communication error 4] is detected. Ethernet Setting "0"...
  • Page 31 4. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PN14 Set the 4th octet of the IP address in decimal. *IPAD4 Set the IP address assigned by the network administrator. IP address When SLMP command (IPAdressSet) is received, the setting of the fourth octet will setting 4 be written to this parameter.
  • Page 32 4. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PN25 Set the 2nd octet of the IP address of the network device allowed to be connected in decimal. *IPAF2 When [Pr. PN24] to [Pr. PN27] are all set to "0", the function is disabled. IP address filter 2 Setting range: 0 to 255...
  • Page 33 4. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PN32 Set the 2nd octet of the IP address of the network device allowed to be connected in decimal. *IPOA2 When [Pr. PN31] to [Pr. PN34] are all set to "0", the function is disabled. Operation specification IP address 2...

  • Page 34: Manufacturer Functions

    5. MANUFACTURER FUNCTIONS 5. MANUFACTURER FUNCTIONS 5.1 Stroke end When LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is turned off, a slow stop is performed by either of the following stop methods. Operation status Remark During rotation at constant speed During deceleration to a stop Travels for the droop pulses No S-pattern acceleration/...

  • Page 35: One-Touch Tuning

    5. MANUFACTURER FUNCTIONS 5.2 One-touch tuning Refer to "MR-JE-_C Servo Amplifier Instruction Manual" for one-touch tuning. Using One-touch tuning mode (2D50h) allows one-touch tuning from the client (controller). (1) Related resister Data Initial Address Read/write Name Description type value Setting a value of "1" to "3" starts one- touch tuning.
  • Page 36 5. MANUFACTURER FUNCTIONS (2) Procedure of one-touch tuning via a network Perform one-touch tuning via a network in the following procedure. Start Refer to "MR-JE-_C Servo Amplifier Instruction Manual" and "MR-JE-_C Startup of the system Servo Amplifier Instruction Manual (Profile Mode)" to start the system. Rotate the servo motor by a controller.

  • Page 37: Machine Diagnosis Function

    5. MANUFACTURER FUNCTIONS 5.3 Machine diagnosis function This function estimates the friction and vibrational component of the drive system in the equipment based on the data in the servo amplifier, and recognizes an error in the machine parts, including a ball screw and bearing.

  • Page 38: Modbus Registers

    6. MODBUS REGISTERS 6. MODBUS REGISTERS Each data such as control parameters, command values, and feedback values is handled as an object composed of an address, object name, data type, access rule, and other elements. The object data can be exchanged between the client (controller) and the servers (servo amplifiers).
  • Page 39 6. MODBUS REGISTERS No. of Continuous Saved Data Read/ Para- Points/ read/ Address Name and function Initial value Range Unit to EEP- type write meter No. of continuous Registers write 2081 PB01 to PB64 Read/ PB01 Possible bytes write The values of the gain/filter setting parameters 20C0 PB64 ([Pr.
  • Page 40 6. MODBUS REGISTERS No. of Continuous Saved Data Read/ Para- Points/ read/ Address Name and function Initial value Range Unit to EEP- type write meter No. of continuous Registers write 2A42 Current alarm 2 (Current alarm 2) Reading 0000h to Impossible bytes FFFFh...
  • Page 41 6. MODBUS REGISTERS No. of Continuous Saved Data Read/ Para- Points/ read/ Address Name and function Initial value Range Unit to EEP- type write meter No. of continuous Registers write 2B04 Cumulative command pulses (Cumulative Reading 80000000h pulse Possible command pulses) bytes 7FFFFFFFh The cumulative command pulses are returned.
  • Page 42 6. MODBUS REGISTERS No. of Continuous Saved Data Read/ Para- Points/ read/ Address Name and function Initial value Range Unit to EEP- type write meter No. of continuous Registers write 2B30 Command position (Command position) Reading 80000000h Possible bytes The command position is returned. 7FFFFFFFh 2B31 Command remaining distance (Command...
  • Page 43 6. MODBUS REGISTERS No. of Continuous Saved Data Read/ Para- Points/ read/ Address Name and function Initial value Range Unit to EEP- type write meter No. of continuous Registers write 2B8E Load to motor inertia ratio at alarm occurrence Reading 0000h to 0.01 Possible...
  • Page 44 6. MODBUS REGISTERS No. of Continuous Saved Data Read/ Para- Points/ read/ Address Name and function Initial value Range Unit to EEP- type write meter No. of continuous Registers write 2C11 External output pin status (External Output pin Read 01h (fixed) Impossible display) bytes...
  • Page 45 6. MODBUS REGISTERS No. of Continuous Saved Data Read/ Para- Points/ read/ Address Name and function Initial value Range Unit to EEP- type write meter No. of continuous Registers write 2C20 Machine diagnostic status (Machine diagnostic Reading 0000h to Possible status) bytes FFFFh...
  • Page 46 6. MODBUS REGISTERS No. of Continuous Saved Data Read/ Para- Points/ read/ Address Name and function Initial value Range Unit to EEP- type write meter No. of continuous Registers write 2C24 Dynamic friction torque at reverse rotation (at Reading 8000h to Possible rated speed) bytes...
  • Page 47 6. MODBUS REGISTERS No. of Continuous Saved Data Read/ Para- Points/ read/ Address Name and function Initial value Range Unit to EEP- type write meter No. of continuous Registers write 2D52 Stop of one-touch tuning (One-touch tuning Writing 0000h/ Impossible Stop) bytes 1EA5h...
  • Page 48 6. MODBUS REGISTERS No. of Continuous Saved Data Read/ Para- Points/ read/ Address Name and function Initial value Range Unit to EEP- type write meter No. of continuous Registers write 6060 Control mode (Modes of operation) Read/ 80h to 7Fh Impossible bytes write...
  • Page 49 6. MODBUS REGISTERS No. of Continuous Saved Data Read/ Para- Points/ read/ Address Name and function Initial value Range Unit to EEP- type write meter No. of continuous Registers write 606D Speed reached judgment width (Velocity Read/ 2000 0000h to 0.01 PT67 Impossible...
  • Page 50 6. MODBUS REGISTERS No. of Continuous Saved Data Read/ Para- Points/ read/ Address Name and function Initial value Range Unit to EEP- type write meter No. of continuous Registers write 607D Software limit (Software position limit) Reading 02h (fixed) Impossible bytes Set the range for limiting the command position.
  • Page 51 6. MODBUS REGISTERS No. of Continuous Saved Data Read/ Para- Points/ read/ Address Name and function Initial value Range Unit to EEP- type write meter No. of continuous Registers write 6085 Deceleration time constant at Quick stop Read/ 00000000h PC51 Impossible command (Quick stop deceleration) bytes...
  • Page 52 6. MODBUS REGISTERS No. of Continuous Saved Data Read/ Para- Points/ read/ Address Name and function Initial value Range Unit to EEP- type write meter No. of continuous Registers write 6098 Home position return types (Homing method) Read/ D5h (-43) PT45 Impossible bytes...
  • Page 53 6. MODBUS REGISTERS No. of Continuous Saved Data Read/ Para- Points/ read/ Address Name and function Initial value Range Unit to EEP- type write meter No. of continuous Registers write 60E3 Supported homing method (Supported homing Reading 00h to FFh Impossible method) bytes...

  • Page 54: Object Library Details (Objects In The 1000S)

    6. MODBUS REGISTERS 6.2 Object library details (objects in the 1000s) POINT This section describes the objects in the 1000s. Refer to section 6.1 for details on the objects not listed here. 6.2.1 Writing command to EEP-ROM (1010h) POINT Before shutting off the power after executing the writing command to EEP-ROM (Store Parameters), always check that parameters are not being saved (Bit 0 is on).

  • Page 55: Restore Default Eep-Rom Parameters (1011H)

    6. MODBUS REGISTERS (1) Usage This object can read the availability of each Sub Index. The following table shows the returned values of each item. Item Saved parameter Returned value Number of entries (Number of entries) Saving all parameters Index: 2001h to 27FFh 00000001h (available) (Save all parameters) Select the items to be saved in EEP-ROM using this object.

  • Page 56: Object Library Details (Objects In The 2000S)

    6. MODBUS REGISTERS 6.3 Object library details (objects in the 2000s) POINT This section describes the objects in the 2000s. Refer to section 6.1 for details on the objects not listed here. 6.3.1 External input pin status (2C10h) Data Read/ No.

  • Page 57: External Output Pin Status (2C11H)

    6. MODBUS REGISTERS 6.3.2 External output pin status (2C11h) Data Read/ No. of Points/ Continuous read/ Address Name type write No. of Registers continuous write Number of entries 1 bytes Reading (Number of entries) External output pin status 2C11h Impossible (External Output pin display) External output pin status 1 4 bytes Reading...
  • Page 58 6. MODBUS REGISTERS (1) Usage External Input signal display1 (Input device status 1) to External Input signal display4 (Input device status 4) display the ON/OFF state of each input device of the MR-JE-_C servo amplifier. The following table shows the details. When the input of the target device is on, "1" is returned. When the input of the target device is off, "0"...

  • Page 59: Control Input (2D01H To 2D0Ah)

    6. MODBUS REGISTERS 6.3.4 Control input (2D01h to 2D0Ah) Data Read/ No. of Points/ Continuous read/ Address Name type write No. of Registers continuous write 2D01h Read/ Control input (Control DI1 to Control DI10) 2 bytes Possible write 2D0Ah The on/off status of input device can be read. The on/off status of input device can also be set.
  • Page 60 6. MODBUS REGISTERS (2) Bit definition of control DI2 Symbol Description The value at reading is undefined. Set "0" when writing. Proportional control Turn C_PC on to switch the speed amplifier from the proportional integral type to the proportional type. If the servo motor is stopped and then rotated by even one pulse due to any external factor, it generates torque to compensate for the droop pulses and returns to the original position.
  • Page 61 6. MODBUS REGISTERS (4) Bit definition of control DI4 Symbol Description The value at reading is undefined. Set "0" when writing. (5) Bit definition of control DI5 Symbol Description The value at reading is undefined. Set "0" when writing. Proximity dog input C_DOG When C_DOG is turned on, a proximity dog will be detected.
  • Page 62 6. MODBUS REGISTERS (6) Bit definition of control DI6 Symbol Description The value at reading is undefined. Set "0" when writing. (7) Bit definition of control DI7 Symbol Description The value at reading is undefined. Set "0" when writing. (8) Bit definition of control DI8 Symbol Description The value at reading is undefined.
  • Page 63 6. MODBUS REGISTERS (9) Bit definition of control DI9 Symbol Description The value at reading is undefined. Set "0" when writing. (10) Bit definition of control DI10 Symbol Description The value at reading is undefined. Set "0" when writing. 6 - 26...

  • Page 64: Control Output (2D11H To 2D1Ah)

    6. MODBUS REGISTERS 6.3.5 Control output (2D11h to 2D1Ah) Data Read/ No. of Points/ Continuous read/ Address Name type write No. of Registers continuous write 2D11h Control output (Status DO1 to Status DO10) 2 bytes Reading Possible 2D1Ah The on/off status of output device can be read. The following table lists readable output devices. (1) Bit definition of Status DO 1 Symbol Description...
  • Page 65 6. MODBUS REGISTERS (2) Bit definition of Status DO 2 Symbol Description Z-phase already passed S_ZPASS 0: Z-phase unpassed after start-up 1: Z-phase passed once or more after start-up The value at reading is undefined. Zero speed state S_ZSP S_ZSP turns on when the servo motor speed is zero speed or less. Zero speed can be changed with [Pr. PC17].
  • Page 66 6. MODBUS REGISTERS (3) Bit definition of Status DO 3 Symbol Description The value at reading is undefined. Forced stop deceleration S_RSTP S_RSTP turns on during a forced stop deceleration. The value at reading is undefined. Transition to tough drive mode in process S_MTTR When a tough drive is "Enabled"...
  • Page 67 6. MODBUS REGISTERS (5) Bit definition of Status DO 5 Symbol Description The value at reading is undefined. (6) Bit definition of Status DO 6 Symbol Description The value at reading is undefined. 6 - 30...
  • Page 68 6. MODBUS REGISTERS (7) Bit definition of Status DO 7 Symbol Description The value at reading is undefined. (8) Bit definition of Status DO 8 Symbol Description The value at reading is undefined. 6 - 31...
  • Page 69 6. MODBUS REGISTERS (9) Bit definition of Status DO 9 Symbol Description The value at reading is undefined. (10) Bit definition of Status DO 10 Symbol Description The value at reading is undefined. 6 - 32...

  • Page 70: Sdo Abort Code (2A60H)

    6. MODBUS REGISTERS 6.3.6 SDO Abort Code (2A60h) (1) List of registers Data Read/ No. of Points/ Continuous read/ Address Name type write No. of Registers continuous write 2A60h SDO Abort Code (SDO Abort Code) 4 bytes Read Impossible The latest SDO Abort Code generated in Modbus communication can be read. The access to registers can be checked by reading the latest SDO Abort Code.

  • Page 71: Access Log 1 (2A64H)

    6. MODBUS REGISTERS 6.3.7 Access log 1 (2A64h) Data Read/ No. of Points/ Continuous read/ Address Name type No. of Registers continuous write write 2A64h Access log 1 (Access log 1) 4 bytes Read Impossible The access log 1 can be read. (1) Usage Read the access log 1 using this register.

  • Page 72: Object Library Details (Objects In The 6000S)

    6. MODBUS REGISTERS 6.4 Object library details (objects in the 6000s) POINT This section describes the objects in the 6000s. Refer to section 6.1 for details on the objects not listed here. 6.4.1 Control status (6041h) Data Read/ No. of Points/ Continuous read/ Address Name...

  • Page 73: Quick Stop Option Code (605Ah)

    6. MODBUS REGISTERS 6.4.2 Quick stop option code (605Ah) Data Read/ No. of Points/ Continuous read/ Address Name type write No. of Registers continuous write Read/ 605Ah Quick stop option code (Quick stop option code) 2 bytes Impossible write The operation method of deceleration to a stop can be specified. The following table shows the supported methods and the operations.

  • Page 74: Halt Option Code (605Dh)

    6. MODBUS REGISTERS 6.4.3 Halt option code (605Dh) (1) Object list Data Read/ No. of Points/ Continuous read/ Address Name type write No. of Registers continuous write Read/ 605Dh Halt option code (Halt option code) 2 bytes Impossible write The following table shows descriptions of Halt option code (605Dh). Setting Description value...

  • Page 75: Control Mode Display (6061H)

    6. MODBUS REGISTERS 6.4.4 Control mode display (6061h) Data Read/ No. of Points/ Continuous read/ Address Name type write No. of Registers continuous write 6061h Control mode display (Modes of operation Display) 1 bytes Reading Impossible The current control mode can be read. The following table shows the correspondence between control modes and setting values.

  • Page 76: Polarity (607Eh)

    6. MODBUS REGISTERS 6.4.6 Polarity (607Eh) Data Read/ No. of Points/ Continuous read/ Address Name type write No. of Registers continuous write Read/ 607Eh Rotation direction selection (Polarity) 1 bytes Impossible write The rotation direction selection can be set. To set the rotation direction to position commands and speed commands, turn on or off both bit 6 and bit 7 of Polarity (607Eh) or use [Pr.
  • Page 77 6. MODBUS REGISTERS Positioning operation patterns can be changed with Positioning option code (60F2h). Change the setting while the servo motor is stopped (Target reached is on). If the setting is changed while the servo motor is rotating (Target reached is off), the setting value is not applied immediately. The new value is applied at a positioning start (Bit 4 of Controlword is turned on) after Target reached is once turned on.

  • Page 78: Touch Probe (60B8H To 60Bbh)

    6. MODBUS REGISTERS 6.4.8 Touch probe (60B8h to 60BBh) The current position latch data at the time of TPR1 (Touch probe 1) input can be read. (1) Object list Data Read/ No. of Points/ Continuous read/ Address Name type write No.

  • Page 79: Touch Probe Function Setting (60B8H)

    6. MODBUS REGISTERS The following shows a timing chart. (a) 60B8h = 0013h 60B8h Bit 0 60B8h Bit 1 60B8h Bit 4 (d) 60B9h = 0003h (f) 60B9h = 0003h (g) Latches continuously 60B8h Bit 5 (b) 60B9h = 0001h 60B9h Bit 0 60B9h Bit 1 60B9h Bit 2...

  • Page 80: Touch Probe Function Status (60B9H)

    6. MODBUS REGISTERS 6.4.10 Touch probe function status (60B9h) Data Read/ No. of Points/ Continuous read/ Address Name type write No. of Registers continuous write 60B9h Status of the touch probe function (Touch probe status) 2 bytes Reading Possible The current status of the touch probe function can be checked. The description of this object is as follows. Description 0: Latch function of touch probe is disabled 1: Latch function of touch probe is enabled.

  • Page 81: Supported Control Mode (6502H)

    6. MODBUS REGISTERS 6.4.13 Supported control mode (6502h) Data Read/ No. of Points/ Continuous read/ Address Name type write No. of Registers continuous write 6502h Supported control mode (Supported Drive Modes) 4 bytes Reading Impossible The supported control mode can be read. The returned value is "0000002Dh".
  • Page 82 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
  • Page 83 MEMO...
  • Page 84 MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. Microsoft, Windows, Internet Explorer, and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in the United States, Japan, and/or other countries. Intel, Pentium, and Celeron are trademarks of Intel Corporation in the United States and/or other countries.
  • Page 85 Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
  • Page 86 MODEL MODEL CODE HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH(NA)030269ENG-A(1708)MEE Printed in Japan Specifications are subject to change without notice.

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